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US 12,617,086 B2Granted
Teaching device, control device, and mechanical system
AssigneeFanuc Corporation
InventorWanfeng Fu
Life of this patent
Estimating the term…
Abstract
This teaching device comprises a teaching unit that, using a force detector, binds a force parameter of a force control command for a machine, and a movement trajectory of the machine which executes force control, and that simultaneously teaches the force parameter and the movement trajectory.
Claims19
A teaching device, comprising:
- a teaching unit configured to
- associate a force parameter of a force control command for a machine with a motion trajectory of the machine for performing force control, and
- teach the force parameter and the motion trajectory, using a force detector,
- wherein
- the teaching unit is configured to simultaneously teach the force parameter, the motion trajectory, and another parameter other than the force parameter and the motion trajectory, and
- the another parameter includes at least one of an approach speed of the machine to a work target or a movement speed of the machine.
3 more elements
A controller, comprising:
- a teaching unit configured to associate a force parameter of a force control command for a machine with a motion trajectory of the machine for performing force control, and teach the force parameter and the motion trajectory, using a force detector;
- a program generation unit configured to generate a motion program for the machine based on the force control command;
- and
- a control unit configured to operate the machine according to the motion program and perform a force control for the machine,
- wherein
- the teaching unit is configured to simultaneously teach the force parameter, the motion trajectory, and another parameter other than the force parameter and the motion trajectory, and
- the another parameter includes at least one of an approach speed of the machine to a work target or a movement speed of the machine.
4 more elements
A machine system, comprising:
- a machine having a force detector;
- a teaching unit configured to associate a force parameter of a force control command for the machine with a motion trajectory of the machine for performing force control, and teach the force parameter and the motion trajectory, using the force detector;
- a program generation unit configured to generate a motion program for the machine based on the force control command;
- and
- a control unit configured to operate the machine according to the motion program and perform a force control for the machine,
- wherein
- the teaching unit is configured to simultaneously teach the force parameter, the motion trajectory, and another parameter other than the force parameter and the motion trajectory, and
- the another parameter includes at least one of an approach speed of the machine to a work target or a movement speed of the machine.
5 more elements
A teaching device, comprising:
- a program editing unit configured to receive an addition of a force control command to a machine;
- a command editing unit configured to
- associate force parameters including a magnitude and a direction of a force of the force control command with a motion trajectory of the machine, and
- teach or edit the force parameters;
- and
- a display unit configured to display information relating to a plurality of taught or edited force parameters including magnitudes and directions of the force control command associated with the motion trajectory.
3 more elements
Dependencies are inferred from the claim text.